Prevention of Servo-Induced Vibrations in Robotics

This thesis describes methods for treating servo-induced vibrations in
robotics. The focus lies on portal robots (also called linear robots) that
partially consist of hardware manufactured by Bernecker & Rainer
Industrie-Elektronik Ges.m.b.H. It is of interest in many industrial
applications that there is some kind of vibration treatment in the control
strategy. The main reason for this is that it can be time consuming having
to wait for transient vibrations to fade. Another reason is that
mechanical wear increases if there are vibrations present in the
application. Emphasis lies on how to prevent servo-induced vibrations,
however, active vibration damping through simple model based feedback is
also briefly investigated. A... (More)

This thesis describes methods for treating servo-induced vibrations in
robotics. The focus lies on portal robots (also called linear robots) that
partially consist of hardware manufactured by Bernecker & Rainer
Industrie-Elektronik Ges.m.b.H. It is of interest in many industrial
applications that there is some kind of vibration treatment in the control
strategy. The main reason for this is that it can be time consuming having
to wait for transient vibrations to fade. Another reason is that
mechanical wear increases if there are vibrations present in the
application. Emphasis lies on how to prevent servo-induced vibrations,
however, active vibration damping through simple model based feedback is
also briefly investigated. A comparison is also conducted between the
derived preventive solution and an already existing one in the servo drive
systems at hand. (Less)

@misc{2204788,
abstract = {This thesis describes methods for treating servo-induced vibrations in
robotics. The focus lies on portal robots (also called linear robots) that
partially consist of hardware manufactured by Bernecker & Rainer
Industrie-Elektronik Ges.m.b.H. It is of interest in many industrial
applications that there is some kind of vibration treatment in the control
strategy. The main reason for this is that it can be time consuming having
to wait for transient vibrations to fade. Another reason is that
mechanical wear increases if there are vibrations present in the
application. Emphasis lies on how to prevent servo-induced vibrations,
however, active vibration damping through simple model based feedback is
also briefly investigated. A comparison is also conducted between the
derived preventive solution and an already existing one in the servo drive
systems at hand.},
author = {Larsson, Peter},
issn = {0280-5316},
language = {eng},
note = {Student Paper},
title = {Prevention of Servo-Induced Vibrations in Robotics},
year = {2011},
}